J. Mod. Power Syst.
Clean Energy (2017) 5(2):169–176
DOI 10.1007/s40565-016-0229-0
Control strategy for seamless transition from islanded
to interconnected operation mode of microgrids
C. N. PAPADIMITRIOU1, V. A. KLEFTAKIS1, N. D. HATZIARGYRIOU1
Abstract Microgrids can operate either interconnected to 1 Introduction
the utility grid or disconnected forming an island. The tran-
sition between these modes can cause transient overcurrents Microgrids consist of distributed generators (DG), stor-
or power oscillations jeopardizing the equipment safety or age devices, controllable loads and protection units, and
the system stability. This paper proposes a local multi agent they usually operate in low or medium voltage networks.
control method for a seamless transfer between the islanded Microgrids can operate interconnected to the power grid, or
and interconnected modes of operation with agents imple- islanded, offering considerable control capabilities over the
mented into the microgrid central switch (MCS) and into the network operation [1, 2]. The transition between two
microsources inverters. The MCS agent supervises the grid modes may give rise to harmful transient overcurrents. In
status and controls the switch for the transition of the general, a smooth connection is achieved when the voltages
microgrid through the different operation modes, while it of the systems to be connected coincide in magnitude,
communicates locally with the inverter agents of the phase and the frequency. In microgrid applications, syn-
microsources. The inverter agents undertake the synchro- chronization before reconnection is usually accomplished
nization process in case of reconnecting and change the by detecting the voltage magnitude, phase and frequency
inverter control mode depending on the grid status. Simu- difference between the main grid and the microgrid
lation and experimental results are presented to show the [3, 4].
performance and feasibility of the proposed strategy. This problem has been tackled in various papers in the
past. In all these works, the importance of implementing a
Keywords Microgrid, Islanding, Reconnection, Agents, fast and accurate grid voltage synchronization algorithm
Synchronization, Control hardware-in-the-loop (CHIL) has been highlighted. Reference [3] presents a control
method based on the adaptation of a dual second order
generalized integrator based on a frequency locked loop
CrossCheck date: 3 July 2016 (DSOGI-FLL). The algorithm is implemented in a grid-
Received: 14 June 2015 / Accepted: 3 July 2016 / Published online: 27 connected power converter that acts as an intelligent con-
August 2016 nection agent (ICA). The presence of many voltage source
The Author(s) 2016. This article is published with open access at converters, however, may deteriorate its effectiveness.
[Link] Reference [4] proposes an active synchronizing control
& C. N. PAPADIMITRIOU scheme that also adopts a central based coordinated control
chpapadi@[Link]
for multiple DGs. In [5], the synchronization control sys-
V. A. KLEFTAKIS tem sends remote compensator signals from the substation
Vkleft@[Link]
to the speed and voltage regulators of a hydro plant,
N. D. HATZIARGYRIOU achieving safe reconnection. The phase coincidence is
nh@[Link]
addressed only by means of a synchronism check relay that
1
Department of Electrical and Computer Engineering, blocks the reconnection until the phase difference is null.
National Technical University of Athens (NTUA), Athens, This may delay the transfer for undefined period of time.
Greece
170 C. N. PAPADIMITRIOU et al.
Reference [6] presents a transfer strategy based on droop manage the control strategy of the inverters depending on
control of local microsources providing good results. The the microgrid operation state. In case of failure of an
algorithm moves the droop equations of the microsources inverter delivering a signal to the MCS agent, synchro-
to achieve frequency synchronization and in later stage nization is not jeopardized; it can only be slowed down.
phase synchronization. However, the second synchroniza- The synchronization process is based on employing two
tion stage affects the frequency synchronization, while the phase locked loops (PLLs) and three simple proportional-
voltage magnitude coincidence is not addressed. The syn- integral (PI) controllers, whose output are three compen-
chronization system presented in [7] is based on two dual sator signals. These signals implement voltage, frequency
second order generalized integrators (DSOGI) and two and phase synchronization by adjusting the control signals
stationary reference frames phase locked loop (SRF-PLL) of the pulse width modulation (PWM) of the microsource
for synchronizing the grid voltage with the capacitor inverters. The proposed strategy is simple to implement, as
voltage of the converter filter. Besides the requirement of it is based on the simple PI control without affecting the
rather complex components, the main consideration here is droop control of the inverters. After the synchronization
that during the synchronization process, the droop control criteria are met, the MCS closes at a zero-crossing of the
is not employed and none of its functions are carried out. voltage waveform, and at the same time, all the agents are
Reference [8] presents the autonomous control for informed for the new operating status to switch to the
smooth transitioning between the two modes. The DGs appropriate control strategy. All synchronization criteria
operate as current controlled sources using proportional are accurately met in a fast and efficient way, as shown by
resonant (PR) regulators for frequency and phase angle the numerical and laboratory simulations.
regulation while a predictive voltage controller in each DG
ensures voltage control across the microgrid. Reference [9]
investigates the transient oscillation during the transition 2 Agents control strategy
between modes and presents a modified PQ control method
for their amelioration. Accordingly, the output of the PQ 2.1 MCS agent
controller of the DGs synchronously tracks the output of a
V/f controller of the DG voltage forming unit to pass from The MCS ties the point of connection between the
islanded to grid-connected mode. In both approaches [8, 9], microgrid and the upstream distribution system. The
constant communication between the islanded and the main interconnection switches are designed to meet grid inter-
grid is needed. In [10], transitioning is based on two sep- connection standards (IEEE 1547 and UL 1741 for North
arate synchronization compensators that immediately America) to minimize custom engineering and site-specific
affect real and reactive power control loops. Inputs to these approval processes and lower cost [13].
synchronization compensators are the magnitude and phase The MCS switching conditions are the following.
of the two voltage phasors of the microgrid and the main 1) Microgrid disconnection from the mains
grid. The immediate effect on the droop loops may lead to The islanding operation mode can be intentional, e.g.
instability, in case of large differences in angle and mag- scheduled maintenance, or unintentional, e.g. failure in the
nitude between the two systems. The technique of [11] upstream network. In both cases, the microgrid switching
follows the same reasoning by implementing the synchro- to islanding operation ensures continuation of supply to
nization algorithm in the secondary control level that critical loads.
affects the set points of the droop control loops. Reference 2) Microgrid reconnection to the mains
[12] describes the transition process of a real microgrid Once islanded, the microgrid can be reconnected to the
between modes. The voltage source unit gradually lowers utility grid. Synchronization of the two grids is necessary
the microgrid frequency, in order to reduce the phase dif- before closing the central switch at a voltage zero crossing.
ference. When the breaker closes, a frequency spike is Frequency, voltage magnitude and voltage phase need to be
observed. accurately matched to prevent transients.
In this paper, a control strategy based on local agents The following sections focus on the microgrid recon-
that are responsible for the seamless reconnection of the nection to the upstream network. The main modules of the
microgrid to the upstream grid is presented. The proposed MCS agent are shown in Fig. 1. The term agent is used
scheme has the flexibility and reliability of distributed here to describe the software that functions autonomously
controller schemes. The agent of the microgrid central and continuously, while it has the ability to communicate
switch (MCS) manages the status of the switch, while with other agents.
exchanging information with the inverter agents of the The operation mode detection module is enabled by an
microsources when needed. The inverter agents are external signal that is driven by the microgrid central
responsible for the synchronization process and also controller (MGCC), in case of intended islanding/
Control strategy for seamless transition from islanded to interconnected operation mode… 171
MCS agent
Classic droops Modified
Events record module signals PWM
Operation Control MCS Synch signals (t)
MGCC mode Decision Transfer signal
Islanding Detection module Synch process
module
detection module
methods d(f(t))
PLLs dt
Inverter agents Inverter agent
1 or 0 to start or stop the synch process
Fig. 1 MCS agent structure
When d(f(t))/dt=0, synch criteria met
reconnection or an islanding detection method (IDM) in Decision module MCS agent
case of unintended islanding and is beyond the scope of
this paper.
The decision module provides transfer signals to the Fig. 2 Synchronization process that inverter agent undertakes
transfer module according to the signals exchanged with
the islanding detection module and the microsource without affecting the first step. Then reclosing is allowed.
inverter agents. The transfer module initiates, if necessary, More details are as follows.
the transfer process by sending the appropriate signal to the When the microgrid operates in islanded mode, the
MCS. It also sends the inverters of the microsources inverters operate under the following conventional droop
appropriate signals in order to change their control mode. equations.
Note that in case of reconnection, where the synchroniza-
f ¼ fref þ kp ðPref PÞ
tion process should be enabled, the decision module ð1Þ
V ¼ Vref þ kq ðQref QÞ
exchanges also signals with the inverter agents. This pro-
cess is described in the next section. where fref, Vref, Pref, Qref are the reference values of fre-
The events record module records the real time data quency, voltage magnitude, active power and reactive
during the transfer process and sends these data for further power; f, V, P, Q are the measured values of the corre-
analysis. After the transfer is complete, a signal will be sent sponding electrical parameters; kp, kq are the droop
to the decision module, and the agent will prepare itself for coefficients.
the next transfer. It has to be noted that the reference values of the active
and reactive powers are setpoints dictated by the control
strategy of each DG or the MGCC.
2.2 Microsource inverter agents When the MCS agent decides reclosing, its decision
module sends a signal (1) to the inverter agents so that the
This section describes the synchronization process that first step of synchronization starts.
the inverter agents undertake when a transition from The difference between the microgrid and the grid fre-
islanded to interconnected mode is required. quency drives a simple PI controller. The output of the
Each inverter agent structure is shown in Fig. 2. Two controller is the compensator signal Sf that modifies the
PLLs for detecting phase and frequency of the main net- classical voltage reference of the PWM, as shown in Fig. 3.
work and the microgrid at the point of common coupling Similarly, the voltage difference drives a simple PI con-
(PCC) are employed. The proposed method is integrated troller whose output modifies the same PWM sinusoidal
into the inverter agents that undertake the synch process, signal (Fig. 3). When both the compensator signals reach a
when the appropriate signal from MCS agent is received. It steady value and their derivative is zero, the second step of
should be noted that the frequency and voltage of a the synchronization process is triggered.
microgrid are determined by multiple generators and loads, The difference between the microgrid phase and the
so the following process is integrated in all microsource main grid phase drives a simple PI controller. Its output is
inverters. the compensator signal Sp that changes the phase of the
The proposed process is based on local measurements sinusoidal signal of the PWM, as shown in Fig. 3 without
and consists of two steps. Firstly, the synchronization affecting the frequency of the microgrid that has been
between frequency and voltage magnitude is achieved and regulated in the previous step. When the compensator
secondly the phase synchronization is accomplished signal Sp gets a constant value, the phase synchronization is
172 C. N. PAPADIMITRIOU et al.
fgrid
+
+ PI
Sf
fmeas
PLL Active power f f
calculation P Droop equations
PLL (E+Sv)cos(2π(f+Sf)+Sp) PWM Pulses
Reactive power V
calculation Q
Vgrid E
+
VMgrid Sv
PI
θgrid +
+
θMgrid Sp
+ PI
Modified control signals during synch process
Fig. 3 Modified control signals during synchronization
completed. Note that the compensator signals are the same 3 Simulation results
for all agents without immediately affecting the droops and
thus the power sharing among the microsources. In order to evaluate the proposed scheme, the microgrid
Next, an appropriate signal is sent to the MCS agent to of Fig. 5 is used. Two DG interfaces are connected with an
inform that the synchronization criteria is met. The deci- AC feeder through their inverters. An RL load and an
sion module of the MCS agent sends simultaneously the induction motor are also connected at the same feeder. The
appropriate signal (0) to stop the synchronization process MCS is responsible for the operational status of the
and a transfer signal to the transfer module. When recon- microgrid. The PI controller gains have been specified by
nection is achieved, the transfer module informs the trial and error after extensive iterations in order to ensure
inverter agents about the new operation status in order to the convergence of the controlled variables to the desired
change from voltage control mode to current control mode. values.
The above procedure is shown in Fig. 4. The system parameters are as follows: DG nominal
The opposite procedure can be followed in case of power is 30 kW; X and R of distribution lines are 0.268 X/
intentional transfer from interconnected to islanded mode. km and 0.5652 X/km, respectively; voltage amplitude and
In this case, the P&Q setpoints of Fig. 4 should be first frequency of the AC system are 380 V and 50 Hz; power
modified, so that there is no power exchange between the and capacity of the PL load are 30 kW and 13 kVA; power,
grid and the microgrid by means of generation reschedul- voltage amplitude and rotate speed of the induction motor
ing or load shedding. Then the transfer process can be are 4 kW, 400 V and 1450 r/min.
activated and the inverter agents can switch control mode.
AC feeder
Time RL load
DG VSI Line
Interconnected Line
Islanding operation Synch process
operation
DG VSI Line Induction
Droop control Modified droop control P & Q set points
motor
Grid Fault
under elimination/ Voltage, frequency
Normal grid operation MCS
fault normal & phase synch Microgrid
condition condition
Breaker
MCS agent starting Inverter agents MCS agent
the synch process synch criteria met connecting order Utility grid
Fig. 4 Transfer process between two operation modes Fig. 5 Microgrid structure
Control strategy for seamless transition from islanded to interconnected operation mode… 173
At initial steady state, the microgrid operates in islanded difference is around 9 degrees. At 3 s, the phase synch is
mode. The synchronization process begins at 2 s and is triggered and the phase difference is eliminated at 3.5 s, as
completed at 3.5 s. When the criteria are met, the MCS shown in Fig. 10. At 3.5 s, the phase synchronization is
closes at 3.505 s, when the first zero crossing occurs. Some achieved and the compensator signal Sp triggers (Fig. 11)
representative results are presented.
During the islanded operation, the inverter agents 10
Phase (rad)
operate under droop control mode. Thus, the frequency and
voltage of the microgrid may differ slightly from their 5 Microgrid
nominal values. As shown in Fig. 6, the frequency lies at
0
49.93 Hz during the islanded mode. At 2 s, the inverter
agents start the voltage and frequency synchronization after 10
Phase (rad)
receiving the appropriate signal from the MCS agent. The Grid
frequency is restored within 1 s. In Fig. 7, the compensator 5
Sf signal is shown. When the compensator signal gets a 0
constant value at 3 s, the frequency is restored as expected.
In Fig. 8, the root mean square (RMS) value of the voltage 1
Voltage
is shown. The voltage during the whole synchronization Grid
0
process and the reconnection at 3.51 s does not experience Microgrid
any oscillations or transients and the compensator signal Sv -1
remains zero. 2.00 2.01 2.02 2.03
Time (s)
The zero derivatives of the compensator signals trigger
the second step of phase synchronization without affecting Fig. 9 Phase difference before phase synchronization
the signals of the first step.
The phase difference between the two voltages of the 10
Phase (rad)
microgrid and the grid is shown in Fig. 9. At 2 s, the phase
5 Mircogrid
Frequency (Hz)
50.05 0
50.00 8
Phase (rad)
49.95 6
49.90 4 Grid
1.5 2.0 2.5 3.0 3.5 4.0
2
Time (s)
0
Fig. 6 Microgrid frequency 1
Grid
Voltage
0
0.07 Mircogrid
Compensator signal
0.06 -1
3.47 3.48 3.49 3.50
0.05
Time (s)
0.04
0.03 Fig. 10 Phase difference after phase synchronization
0.02
0.01
1
0
1.5 2.0 2.5 3.0 3.5 4.0
Compensator signal
-1
Time (s)
-3
Fig. 7 Compensator signal Sf
-5
Voltage
1.02 -7
1.00
0.98 -9
1.5 2.0 2.5 3.0 3.5 4.0 1.5 2.0 2.5 3.0 3.5 4.0
Time (s) Time (s)
Fig. 8 Voltage at PCC Fig. 11 Compensator signal Sp
174 C. N. PAPADIMITRIOU et al.
35 235
Reactive power (kvar) Main grid
Active power (kW)
Active power 230
Voltage (V)
30
225
25 220 Microgrid
215
20 210
Reactive power
15 205
0 1 2 3 4 5 6
1.5 2.0 2.5 3.0 3.5 4.0
Time (s)
Time (s)
Fig. 14 Voltage difference during synchronization-proposed method
Fig. 12 Absorbed active and reactive powers from loads
the decision module of the MCS. At 3.51 s, the microgrid At 3.2 s, the first step of synch is achieved and the
reconnects with the mains seamlessly. regulation of the phase begins. Figure 15 presents the
As expected, the loads do not experience any oscilla- phase difference during the synchronization mode. At 5 s,
tions during both the synchronization and reconnection the angle difference between the two systems is almost
process (Fig. 12). zero and the main breaker closes resulting in a seamless
transition from islanded to grid-connected mode.
Note that the frequency remains at the desired value
4 Hardware setup and results even during the phase synchronization from 3 s to 5 s. This
is one of the main differences between the proposed syn-
In this section, the proposed control scheme is evaluated chronization method and the one described in [12]. Ref-
experimentally through control hardware in the loop erence [12] deals with the transition of a laboratory
(CHIL) simulation. microgrid from islanded to grid-connected mode. For
In a CHIL experiment, the hardware under test is a purposes of qualitative comparison with the previous
controller, in which the proposed control algorithm is results, the transition process of [12] is repeated in the next
studied while the network is still simulated. The real-time figures. The voltage source unit (this is a battery inverter in
digital simulator (RTDS) of the National Technical the laboratory) monitors the grid voltage waveform and
University of Athens (NTUA) laboratory is employed for gradually lowers the microgrid frequency at 10 s, in order
implementing the control, while the same network topol- to reduce the phase difference. It is obvious that the phase
ogy of Fig. 5 is tested. It is clear that the use of an actual synchronization affects the frequency. When the phase
controller and the inherent time delays in the communi- difference is minimized, the breaker closes at 45 s resulting
cation may impact the resulting waveforms, however the in a frequency jump (Figs. 16 and 17).
qualitative comparison between simulation and lab exper-
iment is very satisfactory.
Figures 13 and 14 show the frequency and voltage of the 10
microgrid and the main grid, respectively, during the syn- 8
chronization process. At 1 s, the first step of the synchro-
Angle (°)
6
nization process begins. The frequency of the islanded
4
microgrid is restored from 49.5 Hz to 50 Hz within 2.2 s,
2
when the signal Sf reaches a steady value. The voltage of
the islanded microgrid is restored from 214 V to 230 V 0 1 2 3 4 5 6
within 1 s, when the signal Sv gets a steady value. Time (s)
Fig. 15 Phase difference during synchronization
50.2
Main grid
Frequency (Hz)
50.0
Frequency (Hz)
49.8 50.2
Microgrid Grid
50.0
49.6
49.8 Island
49.4 49.6
0 1 2 3 4 5 6 0 5 10 15 20 25 30 35 40 45 50
Time (s) Time (s)
Fig. 13 Frequencies during transition-proposed method Fig. 16 Frequencies during transition according to [12]
Control strategy for seamless transition from islanded to interconnected operation mode… 175
Voltage (V)
300 [5] Assis TML, Taranto GN (2012) Automatic reconnection from
Grid intentional islanding based on remote sensing of voltage and
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100 of islanded and grid-connected mode switching for microgrid
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C. N. PAPADIMITRIOU received the diploma degree in Electrical
hardware setup proving satisfying performance. and Computer Engineering from the University of Patras, Greece
(2001–2006) as well her Ph.D degree (2007–2012). She is currently a
Open Access This article is distributed under the terms of the researcher at Electrical and Computers Engineering Department of
Creative Commons Attribution 4.0 International License (http:// NTUA. Her main research interests include renewable energy
[Link]/licenses/by/4.0/), which permits unrestricted sources, fuel cells, storage devices, distributed generation and
use, distribution, and reproduction in any medium, provided you give microgrids, power quality, computer applications in power system
appropriate credit to the original author(s) and the source, provide a analysis, control software development and artificial intelligence on
link to the Creative Commons license, and indicate if changes were power systems. She is a member of the Technical Chamber of Greece.
made.
V. A. KLEFTAKIS received the diploma in electrical engineering
from the School of Electrical and Computer Engineering, National
References Technical University of Athens (NTUA), in 2011. He works as a
researcher in the Electric Energy Systems Laboratory and his research
interests include real-time and hardware-in-the-loop simulation,
[1] Dimeas AL, Hatziargyriou ND (2005) Operation of a multiagent
distributed generation, and microgrids. He is a member of the
system for microgrid control. IEEE Trans Power Syst
Technical Chamber of Greece since 2013.
20(3):1447–1455
[2] Katiraei F, Iravani R, Hatziargyriou N et al (2008) Microgrids
management. IEEE Power Energy Mag 6(3):54–65 N. D. HATZIARGYRIOU received the diploma degree in electrical
[3] Rocabert J, Azevedo GMS, Luna A et al (2011) Intelligent and mechanical engineering from the National Technical University
connection agent for three-phase grid-connected microgrids. of Athens (NTUA), in 1976, and the [Link]. and Ph.D degrees from the
IEEE Trans Power Electron 26(10):2993–3005 University of Manchester Institute of Science and Technology,
[4] Cho C, Jeon JH, Kim JY et al (2011) Active synchronizing Manchester, U.K., in 1979 and 1982, respectively. He is the chairman
control of a microgrid. IEEE Trans Power Electron and CEO of the Hellenic Distribution Network Operator. Since 1984,
26(12):3707–3719 he is with the Power Division of the Electrical and Computer
176 C. N. PAPADIMITRIOU et al.
Engineering Department of the National Technical University of CIGRE SC C6 ‘‘Distribution Systems and Distributed Generation’’.
Athens, and since 1995, he is a full professor in power systems. From He is chair of the Advisory Council of the EU Technology Platform
February 2007 to September 2012, he was the deputy CEO of the on SmartGrids. He is the member of the Energy Committee of the
Public Power Corporation (PPC) of Greece, responsible for Trans- Athens Academy of Science. He is the author of the book
mission and Distribution Networks, Island DNO and the Center of ‘‘Microgrids: Architectures and Control’’ and of more than 200
Testing, Research and Prototyping. He is fellow member of IEEE, journal publications and 500 conference proceedings papers.
past chair of the IEEE Power System Dynamic Performance
(Editor Libei KONG)
Committee, Distinguished member of CIGRE and past chair of